A Taxonomy-Driven Analysis of Learning-Based Approaches in SLAM

Learning-based approaches have significantly advanced the capabilities of Simultaneous Localization and Mapping (SLAM) systems, particularly in challenging environments characterized by noise, dynamic objects, and perceptual ambiguity. However, the literature remains highly heterogeneous in terms of sensing modalities, datasets, evaluation protocols, and reporting practices, making systematic comparison difficult. This paper presents a taxonomy-driven review of learning-based SLAM approaches, with particular emphasis on LiDAR-based systems in mobile robotics, and introduces a functional taxonomy that categorizes methods according to the role of learning within the SLAM architecture: (i) learning-enhanced front-end SLAM (T1), (ii) learning-enhanced back-end SLAM (T2), and (iii) learning-centric SLAM systems (T3). Representative studies were analyzed with respect to performance characteristics, robustness, computational requirements, datasets, and deployment-related evidence. The analysis shows that T1 approaches primarily improve local pose estimation and robustness, T2 methods enhance global consistency through learning-based loop closure and relocalization, and T3 approaches explore unified representations, semantic reasoning, and learning-centric autonomy, albeit with greater computational demands and limited deployment evidence. The review further indicates that hybrid approaches combining geometric and learning-based components constitute a prominent trend in the literature, frequently reporting improvements in accuracy and adaptability while maintaining compatibility with established SLAM frameworks. Nevertheless, these observations should be interpreted cautiously, as stronger empirical evidence for hybrid systems may partially reflect their greater technological maturity and broader evaluation history. Finally, the review identifies persistent challenges, including limited cross-domain generalization, high computational requirements, limited deployment-oriented evaluation, and the lack of standardized benchmarking and reporting practices. These findings highlight the need for more reproducible evaluation methodologies, uncertainty-aware learning strategies, and computationally efficient architectures for robust real-world autonomous SLAM.